I changed both inner and outer tie rods while the rack is still on the car. It's been about 3-4 years since I did it. But I remember some parts being a PITA. One thing I did remember is that you have to the your steering wheel so that you have easier access to the inner rod. I also vaguely remember just using a big flathead to indent the washers. And I think the both inner and outer tie rods are just ball joints aren't they? So you should be able to turn it once one end has been tightened down.
Please don't quote me on anything. Everything I said was based on memory.